ArduCopter 2.5 released!
Version 2.5 of the ArduCopter code is now available in the AP Mission Planner and in the downloads area!
Enhancements:
- The first ArduCopter code release optimized for the APM 2. Leans and drift should be much reduced or even eliminated for most users. This was accomplished through a number of core improvements to the DCM implementation by Tridge like this one and this one.
- Loiter and waypoint following should be improved due to a D term bug fix, some tuning and the improved DCM performance mentioned above.
- On start-up, the yaw heading is updated with first successful mag read (so you should no longer see the slow rotation from north to your actual heading).
- Increased output rate to ESCs to 490hz. This update rate is also user selectable using the new RC_SPEED parameter.
- hexa copter stability patch bug fix (should resolve slight flattening when pitching forward and accelerating very rapidly).
- improved baro filtering
- fix to dataflash logging of Mag heading
- addition of H1 swash plate type and bug fix for proactive yaw compensation for collective pitch changes for TradHelis.
Tuning:
The default PIDs are optimized for a 3DR/Jdrones quad with 850 motors and 10" props. If you're using more powerful motors/props, start by turning down Rate Roll P in 25% steps.
While some testers have reported very good flights with the default PIDs, some have reported that this release is a little "sharper" due to the DCM improvements and have found they needed to:
reduce stabilize P by 10% (i.e. 4.5 -> 4.2)
reduce stabilize D by 30% (i.e. 0.15 -> 0.10)
increase rate D from 0 to 0.001
Tuning loiter can be tricky. Refer to the discussions which will appear below for more community feedback on what parameters work best.
Please post your feedback in this discussion. For enhancement requests and bug report, please add them to the arducopter issues list. When possible please include logs (tlog and/or dataflash) and tell us whether you're using APM1 or APM2 and what version of the software you're using (presumably 2.5 but tell us anyway!).
Thanks for this release go to the developers (both in the core team but also those who have provided bug fixes through the issues list) and also the community members who participated in the previous release thread and provided some great detailed information in the form of issue reports and logs which allowed us to nail some bugs!
Replies to This Discussion
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DeveloperPermalink Reply by Marco Robustini on -
Nice Dean!
I think this is the best result with Mediatek gps, sometime there's excessive drift from the Loiter point.
Tomorrow i try to record a video with a comparative test (MTK VS B-BLOX), Loiter and Auto.
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Permalink Reply by John Campen on -
Ive been off the thread for a while. When is the next release expected?
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3D RoboticsPermalink Reply by Chris Anderson on -
The 2.6 merge window closed today, so we're beginning what's probably going to be a week of testing. If that goes well, look for a 2.6 hex push for next weekend.
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Permalink Reply by Mike Mac on -
Will that be for beta testing or will it be available in the Mission Planner?
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ModeratorPermalink Reply by Dean Wynton on -
Thanks Marco, I do know what you mean about the drift, I think if it is left long enough to get a good hdop its quite good, otherwise it will jump from place to place as the gps position changes
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DeveloperPermalink Reply by R_Lefebvre on -
Dang! But will it do that in all conditions with same settings?
Sometimes it seems like somebody gets it dialed in one day, but then it doesn't work the next.
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ModeratorPermalink Reply by Dean Wynton on -
I have tried it with wind, and initially the wind takes it for the first second or so but then it finds it`s way back and stays there, I will try and get a video with more wind. The conditions in that video were very good
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Permalink Reply by Chris Huitema on -
Whats going to be new in 2.6?
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3D RoboticsPermalink Reply by Chris Anderson on -
@Chris: 2.6 will have:
1) Performance improvements, especially in loiter and navigation
2) Support for MAVLink 1.0
3) Much improved dataflash erase handling, which should ensure that new boards connect immediately via MAVLink rather than having to wait for a long erase cycle.
4) Other bug fixes, improved safety checks and tuning improvements.
On ArduPlane, the changes are 2,3,and 4, along with a fix for an annoying bug that made elevon setup difficult.
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Permalink Reply by Emin Bu on
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so,till now i was always erasing eprom before pushing new firmwere,bcs once y6 firmwere didnt erase when i flush it vith H6 firmwere,i was lucky to notice that after start....question is;do i need to erase eprom with enter-3x erase comand in terminal window?
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Permalink Reply by Chris Huitema on
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Awesome, cant wait to get my quad up in the air again!
Loiter worked reasonably well for me even in strong gusty wind. did a better job at holding position than i could!
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